Inter-Robot comms with dds over wifi?
I have a situation where I have multiple identical ROS2 robots (still stuck on dashing...) that need to communicate with a central domain participant over a sketchy wireless network. Currently doing this with a custom jenk udp packet solution, but I'm wanting to see if it can be replaced with ros2/dds communication instead.
What is the recommended way to use dds (specifically fastrtps) to provide low-bandwidth communications between robots and central domain participant, while preventing high-volume internal robot traffic from getting published on the wireless network?
From what I can understand about the fastrtps profiles, it looks like that's the way to go, but I wanted to try and get other opinions/feedback. I'd like to avoid as much unique configuration per robot as possible, but not sure if I can get around that.
